How to write structs within structs in mex functions?

Hello,

I am currently writing a standalone C code actually to write a .mat file with the MAT-File API which uses mex functions. I have the following structure:

struct position
{
    float x, y, z;
};

struct orientation
{
    float x, y, z;
};

struct robot
{
    string name;
    position pose;
    orientation or;
};

Then in the main I just use struct robot data to populate my data. How do I do this so as to have several 1x1 struct in matlab environment?

Thanks.

[James Tursa]

Are you simply asking how to convert a "robot" struct into an mxArray? E.g., for writing to a mat file and using in MATLAB? Do you want the x, y, z fieldnames carried along or would you rather have them combined into a single vector?